Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file MotorControl.h

 * @brief Contains motor declarations and functions

 * 

 * Contains functions and definitions for the use of

 * motors

 *

 * @author Colony Project, CMU Robotics Club

 * @author Ben Wasserman

 * @author Alex Zirbel

 **/

#ifndef _MOTOR_CONTROL_H_

#define _MOTOR_CONTROL_H_

#include <ros/ros.h>

#include <motors/query_motors.h>

#include <motors/set_motors.h>

#include "constants.h"

/* Motor-specific defines */

#define MOTOR_ALL 0xF

#define MOTOR_ALL_REV 0xF0

#define MOTOR_NONE 0x0

#define MOTOR_FL 0x8

#define MOTOR_FR 0x4

#define MOTOR_BL 0x2

#define MOTOR_BR 0x1

#define MOTOR_FL_REV 0x80

#define MOTOR_FR_REV 0x40

#define MOTOR_BL_REV 0x20

#define MOTOR_BR_REV 0x10

#define MOTOR_FRONT MOTOR_FL | MOTOR_FR

#define MOTOR_BACK MOTOR_BR | MOTOR_BR

#define MOTOR_LEFT MOTOR_FL | MOTOR_BL

#define MOTOR_RIGHT MOTOR_FR | MOTOR_BR

#define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV

#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV

#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT

#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV

#define MAXSPEED 255

#define MOTOR_PERCENT 'p'

#define MOTOR_MMS 'm'

#define MOTOR_CMS 'c'

#define MOTOR_ABSOLUTE 'a'

#define MOTOR_DEFAULT_UNIT MOTOR_PERCENT

class MotorControl

{

    public:

        /** Set up the motor node and prepare to communicate over ROS */

        MotorControl(const ros::NodeHandle& libscout_node,

                     std::string scoutname);

        /** Uses which to specify what to change, and sets all to same speed */

        void set(int which, float speed, char units=MOTOR_DEFAULT_UNIT);

        /** Sets each side to a different speed */

        void set_sides(float speed_l, float speed_r,

                     char units=MOTOR_DEFAULT_UNIT);

        /** Sets each motor speed individually */

        void set_each(int which,

                    float speed_fl, float speed_fr,

                    float speed_bl, float speed_br,

                    char units=MOTOR_DEFAULT_UNIT);

        /** Requests the current motor speeds */

        float query(int which);

    private:

        /** Error if which sets a motor to both forward and backward */

        void check_which_ok(int which);

        float rel_to_abs(float rel_speed, int units);

        float abs_to_rel(float abs_speed, int units);

        /* Absolute speeds, but allowing fractions. Useful for PID, etc. */

        float motor_fl_speed;

        float motor_fr_speed;

        float motor_bl_speed;

        float motor_br_speed;

        /** ROS publisher and client declaration */

        ros::Publisher set_motors_pub;

        ros::ServiceClient query_motors_client;

        ros::NodeHandle node;

};

#endif